version: 66.11
glider: 171
mission: 4
dive: 189
start: 3 24 113 19 57 32
data:
$ID,171
$MISSION,4
$DIVE,189
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,970
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,3
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,370
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52107
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-20752.533
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3952
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,415
$VBD_MAX,3400
$C_VBD,2380
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0035000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-74.53199
$PRESSURE_SLOPE,0.0001165165
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043708701
$SEABIRD_T_H,0.00064764963
$SEABIRD_T_I,2.5888983e-05
$SEABIRD_T_J,2.7074855e-06
$SEABIRD_C_G,-10.475479
$SEABIRD_C_H,1.2050543
$SEABIRD_C_I,-0.0015894541
$SEABIRD_C_J,0.00021379974
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,240313,195106,2156.763,12329.879,38,1.0,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-65.9
$GPS2,240313,195706,2156.728,12329.956,14,1.1,14,-2.9
$SPEED_LIMITS,0.151,0.296
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,296.6,245089,-12.0,-8.739,-16.47,3810
$D_GRID,4712
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.25,-219.0,126,2503,835,660,0.0,0.0,0,82,0.00,0.00,-61.28,0.000,16386,0.000,0.000,126,2504,2453,2523,2383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.25,-219.0,126,2504,2529,2383,3.2,-5.5,8,117,8.75,1.90,-15.57,0.000,18692,0.217,0.070,2401,3669,3277,3350,3205,0,0,0,0,0,0,25.86,26.24,26.62
$GC,256,-1.25,-219.0,2401,3669,3352,3205,59.8,-34.1,26,262,0.00,1.70,0.00,0.000,1030,0.000,0.024,2401,2488,3279,3353,3206,0,0,0,0,0,0,28.83,26.44,28.83
$GC,570,-1.25,-219.0,2401,2487,3355,3206,167.5,-31.0,42,576,0.00,1.88,0.00,0.000,260,0.000,0.057,2393,3672,3280,3355,3206,0,0,0,0,0,0,28.83,26.44,28.83
$GC,655,-1.25,-219.0,1448,3672,3337,3201,193.8,-30.9,46,661,0.00,1.73,0.00,0.000,1030,0.000,0.024,2392,2502,3280,3355,3206,0,0,0,0,0,0,28.83,26.59,28.83
$GC,981,-1.25,-219.0,2392,2500,3358,3206,290.8,-30.3,62,986,0.00,1.83,0.00,0.000,260,0.000,0.057,2383,3669,3281,3357,3206,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1020,-1.25,-219.0,2384,3669,3356,3206,298.5,-30.4,63,1030,0.10,1.70,0.00,0.000,3078,0.141,0.025,2416,2509,3282,3358,3206,0,0,0,0,0,0,26.36,26.65,28.83
$GC,1325,-1.25,-219.0,2416,2508,3358,3206,384.4,-27.0,79,1332,0.00,2.08,0.00,0.000,516,0.000,0.031,2416,1093,3282,3358,3206,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1365,-1.25,-219.0,2416,1093,3358,3206,390.8,-26.7,80,1373,0.00,2.12,0.00,0.000,1030,0.000,0.041,2406,2492,3282,3358,3206,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1670,-1.25,-219.0,2406,2492,3358,3206,472.2,-24.6,96,1676,0.00,1.83,0.00,0.000,260,0.000,0.055,2397,3673,3282,3358,3206,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1704,-1.25,-219.0,2397,3673,3358,3206,477.9,-24.2,97,1710,0.00,1.67,0.00,0.000,1030,0.000,0.024,2397,2492,3282,3358,3206,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2018,-1.25,-219.0,2396,2491,3358,3206,553.1,-22.8,113,2024,0.00,2.03,0.00,0.000,516,0.000,0.030,2397,1105,3282,3359,3206,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2072,-1.25,-219.0,2397,1105,3359,3206,563.2,-22.9,115,2080,0.12,2.12,0.00,0.000,3078,0.164,0.039,2419,2503,3282,3359,3206,0,0,0,0,0,0,26.42,26.60,28.83
$GC,2398,-1.25,-219.0,2419,2503,3359,3208,631.3,-20.0,129,2404,0.00,1.80,0.00,0.000,260,0.000,0.055,2411,3671,3282,3359,3206,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2458,-1.25,-219.0,2410,3671,3359,3206,638.3,-20.2,130,2466,0.00,1.67,0.00,0.000,1030,0.000,0.025,2411,2489,3282,3359,3206,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2765,-1.25,-219.0,2410,2488,3358,3206,706.8,-20.9,141,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2489,3281,3358,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3063,-1.25,-219.0,2410,2488,3359,3202,763.5,-18.2,151,3069,0.00,2.00,0.00,0.000,516,0.000,0.029,2411,1112,3279,3358,3201,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3123,-1.25,-219.0,1480,1111,3341,3196,769.6,-17.9,152,3131,0.00,2.10,0.00,0.000,1030,0.000,0.041,2400,2499,3279,3358,3200,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3431,-1.25,-219.0,2400,2499,3358,3196,830.9,-18.6,163,3437,0.00,1.83,0.00,0.000,260,0.000,0.056,2391,3674,3277,3358,3196,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3465,-1.25,-219.0,2391,3674,3358,3196,837.9,-18.9,164,3470,0.00,1.67,0.00,0.000,1030,0.000,0.026,2391,2498,3277,3358,3196,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3799,-1.25,-219.0,2391,2498,3358,3190,905.2,-20.3,175,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2498,3274,3358,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4099,-1.25,-219.0,2391,2498,3355,3187,963.8,-19.6,185,4105,0.00,1.85,0.00,0.000,260,0.000,0.057,2382,3669,3270,3355,3186,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,4132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4132,begin apogee
$GC,4140,-0.20,0.0,2382,2015,3355,3186,970.6,-19.6,186,4484,1.10,0.00,333.60,0.749,10246,0.122,0.000,2748,2014,2374,2533,2215,0,0,0,0,0,0,26.36,28.83,24.48
$STATE,4487,end apogee,CONTROL_FINISHED_OK
$STATE,4487,begin climb
$GC,4489,1.25,219.0,2747,2014,2529,2208,990.7,0.0,196,4733,1.30,2.33,230.10,0.897,10756,0.047,0.039,3243,621,1473,1575,1372,0,0,0,0,0,0,25.25,24.86,24.17
$GC,4773,1.25,219.0,3243,622,1560,1358,955.3,20.7,205,4779,0.00,2.17,0.00,0.000,1030,0.000,0.032,3243,2005,1458,1559,1358,0,0,0,0,0,0,28.83,25.33,28.83
$GC,5097,1.25,219.0,3243,2005,1552,1352,874.7,23.7,216,5103,0.00,2.22,0.00,0.000,260,0.000,0.047,3243,3416,1452,1552,1352,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5132,1.25,219.0,3243,3416,1551,1352,866.2,24.0,217,5139,0.12,2.15,0.00,0.000,5126,0.179,0.028,3226,1994,1452,1552,1352,0,0,0,0,0,0,25.98,26.20,28.83
$GC,5468,1.25,219.0,3224,1994,1549,1348,791.0,21.9,228,5474,0.00,2.22,0.00,0.000,260,0.000,0.048,3225,3407,1449,1550,1348,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5502,1.25,219.0,3224,3407,1550,1349,783.1,22.1,229,5508,0.00,2.10,0.00,0.000,1030,0.000,0.028,3235,2002,1448,1549,1348,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5836,1.25,219.0,3235,2002,1547,1346,709.6,22.1,240,5842,0.00,2.12,0.00,0.000,516,0.000,0.040,3247,609,1446,1547,1346,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5910,1.25,219.0,3246,609,1547,1346,695.5,21.9,242,5916,0.00,2.10,0.00,0.000,1030,0.000,0.032,3247,2016,1446,1547,1346,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6234,1.25,219.0,3246,2016,1546,1344,620.0,22.5,253,6240,0.00,2.15,0.00,0.000,260,0.000,0.047,3246,3401,1445,1546,1345,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6401,1.25,219.0,3246,3401,1545,1344,578.4,25.2,260,6408,0.15,2.10,0.00,0.000,5126,0.172,0.029,3219,1989,1445,1545,1345,0,0,0,0,0,0,26.31,26.60,28.83
$GC,6727,1.25,219.0,3218,1988,1543,1341,511.6,21.2,276,6733,0.00,2.10,0.00,0.000,516,0.000,0.040,3230,609,1441,1541,1342,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6823,1.25,219.0,3229,609,1545,1341,493.6,20.6,280,6829,0.00,2.08,0.00,0.000,1030,0.000,0.032,3229,2002,1442,1544,1341,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7139,1.25,219.0,3229,2002,1543,1341,431.2,19.0,296,7145,0.00,2.17,0.00,0.000,260,0.000,0.047,3230,3404,1441,1543,1340,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7206,1.25,219.0,3227,3405,1542,1341,418.1,19.5,299,7212,0.00,2.10,0.00,0.000,1030,0.000,0.030,3243,1992,1442,1543,1341,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7531,1.25,219.0,3241,1991,1542,1339,357.1,18.5,315,7538,0.00,2.10,0.00,0.000,516,0.000,0.040,3252,606,1439,1541,1338,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7692,1.25,219.0,3252,608,1541,1339,326.8,20.7,322,7701,0.12,2.08,0.00,0.000,5126,0.170,0.031,3220,2009,1439,1541,1338,0,0,0,0,0,0,26.38,26.63,28.83
$GC,7999,1.25,219.0,3220,2010,1542,1338,268.1,17.3,338,8000,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2009,1439,1540,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8299,1.25,219.0,3218,2009,1542,1338,216.6,16.7,353,8300,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2009,1439,1541,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8599,1.25,219.0,3220,2009,1541,1338,167.6,16.0,368,8605,0.00,2.12,0.00,0.000,516,0.000,0.039,3231,607,1440,1542,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8660,1.25,219.0,3231,608,1542,1338,161.1,14.5,370,8668,0.00,2.05,0.00,0.000,1030,0.000,0.030,3231,2003,1440,1542,1338,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8966,1.25,219.0,3231,2003,1542,1338,113.3,15.1,386,8972,0.00,2.15,0.00,0.000,260,0.000,0.046,3231,3406,1440,1542,1338,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9086,1.25,219.0,3230,3406,1542,1338,96.0,16.6,391,9094,0.00,2.08,0.00,0.000,1030,0.000,0.028,3242,1989,1440,1542,1338,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9393,1.25,219.0,3242,1989,1542,1338,49.9,13.5,407,9399,0.00,2.17,0.00,0.000,260,0.000,0.046,3243,3402,1441,1544,1339,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9472,1.25,219.0,3242,3402,1545,1338,38.4,15.6,414,9479,0.12,2.05,0.00,0.000,5126,0.161,0.028,3220,1996,1441,1545,1338,0,0,0,0,0,0,26.42,26.68,28.83
$STATE,9774,end climb,SURFACE_DEPTH_REACHED
$STATE,9774,begin surface coast
$FINISH,0.5,1.023300
$STATE,9802,end surface coast,CONTROL_FINISHED_OK
$STATE,9802,begin surface
$SM_CCo,9820,82.12,0.059,0,0,746,400.08
$SM_GC,1.30,7.85,0.77,82.12,0.034,0.044,0.059,130,2503,746,-8.29,-1.16,400.08,0,0,0,0,0,0,26.67,26.63,26.46
$IRIDIUM_FIX,2148.09,12330.45,240313,171756
$TT8_MAMPS,0.047936,0.047936
$HUMID,45.43
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3960096
$24V_AH,24.2,27.839
$10V_AH,10.3,19.768
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.750,85.700,563.700,82.125,0.000,0.000,0.000,215.250,0.000,0.000,15.786,1967.284,5844.216,700.118,1480.355,267.698,0.000,1660.617,0.000,1196.084,0.000,0.537,0.000
$DEVICE_MAMPS,217.260,69.615,896.580,58.905,0.000,0.000,0.000,122.400,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9813.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.984,0.000,0.000,0.000
$MEM,329680
$DATA_FILE_SIZE,16777,465
$CAP_FILE_SIZE,255107,0
$CFSIZE,260034560,233963520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,113.1,1
$GPS,240313,224405,2157.320,12328.710,50,1.7,51,-2.9